Need to leave my husband. But can't afford too?

I need help please. I've been with my husband for 19 years- since I was 17.
We have a mortgage and 3 children together, aged 13, 11 and 6.
Life his hell! He's verbally anusive to me and the kids, the elder 2 say they hate him. All he does is shout at them.
I've been trying to get out of this situation for a long time now, but I just don't know how I can.
I work, but we have debts so I have absolutely no money to try and put aside to get out. ( he works too and does backhanders yet myself or the kids don't see a penny of this money) . He drinks every night yet I can barely afford food on the table.
There's no way I could afford private rental, ive spoke to the council who have basically said because my name is on the mortgage that they can't help me.
I really don't know how much more I can take.
Any help will be appreciated, believe me I've tried and tried with my marriage. But I've learnt nothing's going to change.
His dad was exactly the same and the hubby hates him with a passion and they haven't spoke for years.

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